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Proceedings Papers

Mouth Operated Neurosurgical Robot

Thomas G. Sugar, Paul Fussell
Proc. ASME. IDETC-CIE2001, Volume 2B: 27th Design Automation Conference, 1113-1118, September 9–12, 2001
Publisher: American Society of Mechanical Engineers
Paper No: DETC2001/DAC-21130
https://doi.org/10.1115/DETC2001/DAC-21130
View Paper titled, Mouth Operated Neurosurgical Robot
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Topics: Neurosurgery, Robots, Microscopes, Biomedicine, Linkages, Magnetic resonance imaging, Robotics, Surgery
Proceedings Papers

Reconstruction of Ground Reaction Force Data Using Lyapunov Floquet Theory and Invariant Manifold Theory

Sandesh G. Bhat, Thomas G. Sugar, Sangram Redkar
Proc. ASME. IDETC-CIE2020, Volume 10: 44th Mechanisms and Robotics Conference (MR), V010T10A047, August 17–19, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DETC2020-22521
https://doi.org/10.1115/DETC2020-22521
View Paper titled, Reconstruction of Ground Reaction Force Data Using Lyapunov Floquet Theory and Invariant Manifold Theory
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Topics: Manifolds, Approximation, Degrees of freedom, Dynamics (Mechanics), Nonlinear dynamical systems, Plates (structures), Reduced order systems, Sensors
Proceedings Papers

Invariant Manifolds in Human Joint Angle Analysis During Walking Gait

Sandesh G. Bhat, Thomas G. Sugar, Sangram Redkar
Proc. ASME. IDETC-CIE2020, Volume 2: 16th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC), V002T02A031, August 17–19, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DETC2020-22241
https://doi.org/10.1115/DETC2020-22241
View Paper titled, Invariant Manifolds in Human Joint Angle Analysis During Walking Gait
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Topics: Dynamics (Mechanics), Manifolds, Algorithms, Dynamic systems, Kinematics, Phase space, Biomechanics, Degrees of freedom, Delays, Linear systems
Proceedings Papers

Development of a Passive Prosthetic Ankle With Slope Adapting Capabilities

Sandesh G. Bhat, Sangram Redkar, Thomas G. Sugar
Proc. ASME. IMECE2018, Volume 3: Biomedical and Biotechnology Engineering, V003T04A018, November 9–15, 2018
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2018-86593
https://doi.org/10.1115/IMECE2018-86593
View Paper titled, Development of a Passive Prosthetic Ankle With Slope Adapting Capabilities
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Topics: Artificial limbs, Design, Dynamics (Mechanics), Prostheses, Simulation
Journal Articles

Nonlinear, Phase-Based Oscillator to Generate and Assist Periodic Motions

Juan De la Fuente, Thomas G. Sugar, Sangram Redkar
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. April 2017, 9(2): 024502.
Paper No: JMR-16-1296
https://doi.org/10.1115/1.4036023
Published Online: March 9, 2017
View Article titled, Nonlinear, Phase-Based Oscillator to Generate and Assist Periodic Motions
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Topics: Control equipment, Limit cycles, Noise (Sound), Oscillations, Pendulums, Simulation, Damping, Trajectories (Physics), Signals, Robots
Proceedings Papers

Nonlinear Phase-Based Oscillator to Generate and Assist Periodic Motions

Juan De la Fuente, Thomas G. Sugar, Sangram Redkar, Andrew R. Bates
Proc. ASME. IDETC-CIE2016, Volume 5B: 40th Mechanisms and Robotics Conference, V05BT07A034, August 21–24, 2016
Publisher: American Society of Mechanical Engineers
Paper No: DETC2016-59230
https://doi.org/10.1115/DETC2016-59230
View Paper titled, Nonlinear Phase-Based Oscillator to Generate and Assist Periodic Motions
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Topics: Control equipment, Oscillations, Pendulums, Stability
Proceedings Papers

Advanced Parallel Actuation of a Serial Robotic Leg

Nathan Cahill, Matthew Holgate, Kyle Schroeder, Thomas G. Sugar
Proc. ASME. IDETC-CIE2016, Volume 5A: 40th Mechanisms and Robotics Conference, V05AT07A056, August 21–24, 2016
Publisher: American Society of Mechanical Engineers
Paper No: DETC2016-59268
https://doi.org/10.1115/DETC2016-59268
View Paper titled, Advanced Parallel Actuation of a Serial Robotic Leg
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Topics: Robotics, Robots, Motors, Manipulators, Additive manufacturing, End effectors, Engineering prototypes, Equations of motion, Inertia (Mechanics), Kinematics
Journal Articles

Limit Cycles to Enhance Human Performance Based on Phase Oscillators

Thomas G. Sugar, Andrew Bates, Matthew Holgate, Jason Kerestes, Marc Mignolet, Philip New, Ragesh K. Ramachandran, Sangram Redkar, Chase Wheeler
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. February 2015, 7(1): 011001.
Paper No: JMR-14-1243
https://doi.org/10.1115/1.4029336
Published Online: February 1, 2015
View Article titled, Limit Cycles to Enhance Human Performance Based on Phase Oscillators
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Topics: Control equipment, Limit cycles, Robots, Damping, Exoskeleton devices, Torque, Signals, Energy harvesting
Proceedings Papers

Adding and Subtracting Energy to Body Motion: Phase Oscillator

Jason Kerestes, Thomas G. Sugar, Matthew Holgate
Proc. ASME. IDETC-CIE2014, Volume 5A: 38th Mechanisms and Robotics Conference, V05AT08A004, August 17–20, 2014
Publisher: American Society of Mechanical Engineers
Paper No: DETC2014-34405
https://doi.org/10.1115/DETC2014-34405
View Paper titled, Adding and Subtracting Energy to Body Motion: Phase Oscillator
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Topics: Control equipment, Exoskeleton devices
Proceedings Papers

A Method to Add Energy to Running Gait: PogoSuit

Jason Kerestes, Thomas G. Sugar, Thierry Flaven, Matthew Holgate, Ragesh K. Ramachandran
Proc. ASME. IDETC-CIE2014, Volume 5A: 38th Mechanisms and Robotics Conference, V05AT08A005, August 17–20, 2014
Publisher: American Society of Mechanical Engineers
Paper No: DETC2014-34406
https://doi.org/10.1115/DETC2014-34406
View Paper titled, A Method to Add Energy to Running Gait: PogoSuit
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Topics: Cycles, Limit cycles, Springs
Proceedings Papers

Enhanced Running Using a Jet Pack

Jason Kerestes, Thomas G. Sugar
Proc. ASME. IDETC-CIE2014, Volume 5A: 38th Mechanisms and Robotics Conference, V05AT08A006, August 17–20, 2014
Publisher: American Society of Mechanical Engineers
Paper No: DETC2014-34426
https://doi.org/10.1115/DETC2014-34426
View Paper titled, Enhanced Running Using a Jet Pack
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Topics: Fans, Thrust, Weight (Mass)
Proceedings Papers

Active Compliant Parallel Mechanisms

Matthew Holgate, Thomas G. Sugar
Proc. ASME. IDETC-CIE2014, Volume 5A: 38th Mechanisms and Robotics Conference, V05AT08A080, August 17–20, 2014
Publisher: American Society of Mechanical Engineers
Paper No: DETC2014-35668
https://doi.org/10.1115/DETC2014-35668
View Paper titled, Active Compliant Parallel Mechanisms
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Topics: Parallel mechanisms, Springs, Engines, Motors, Gears, Stress, End effectors, Levers, Torque
Proceedings Papers

A Novel Force Sensitive Resistor Wheatstone Bridge for Prosthesis Control

Kyle A. Schroeder, Juan De La Fuente, Thomas G. Sugar, Thierry Flaven
Proc. ASME. IDETC-CIE2014, Volume 5B: 38th Mechanisms and Robotics Conference, V05BT08A074, August 17–20, 2014
Publisher: American Society of Mechanical Engineers
Paper No: DETC2014-34452
https://doi.org/10.1115/DETC2014-34452
View Paper titled, A Novel Force Sensitive Resistor Wheatstone Bridge for Prosthesis Control
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Topics: Bridges (Structures), Prostheses, Resistors, Sensors, Calibration, Artificial limbs, Muscle, Robustness, Shapes, Simulation
Proceedings Papers

Robotic Hopper Using Phase Oscillator Controller

Philip New, Chase Wheeler, Thomas G. Sugar
Proc. ASME. IDETC-CIE2014, Volume 5B: 38th Mechanisms and Robotics Conference, V05BT08A068, August 17–20, 2014
Publisher: American Society of Mechanical Engineers
Paper No: DETC2014-34188
https://doi.org/10.1115/DETC2014-34188
View Paper titled, Robotic Hopper Using Phase Oscillator Controller
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Topics: Control equipment, Robotics, Parametric oscillators, Stability
Proceedings Papers

Compliant Mechanisms for Robotic Ankles

Thomas G. Sugar, Matthew Holgate
Proc. ASME. IDETC-CIE2013, Volume 6A: 37th Mechanisms and Robotics Conference, V06AT07A002, August 4–7, 2013
Publisher: American Society of Mechanical Engineers
Paper No: DETC2013-12167
https://doi.org/10.1115/DETC2013-12167
View Paper titled, Compliant Mechanisms for Robotic Ankles
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Topics: Compliant mechanisms, Robotics, Tendons, Actuators
Journal Articles

Comparison and Analysis of a Robotic Tendon and Jackspring™ Actuator for Wearable Robotic Systems

Thomas G. Sugar, Kevin W. Hollander, Alexander Boehler, Jeffrey Ward
Journal: Journal of Medical Devices
Publisher: ASME
Article Type: Research-Article
J. Med. Devices. December 2013, 7(4): 041003.
Paper No: MED-12-1035
https://doi.org/10.1115/1.4025182
Published Online: September 24, 2013
View Article titled, Comparison and Analysis of a Robotic Tendon and Jackspring™ Actuator for Wearable Robotic Systems
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Topics: Actuators, Springs, Robotics, Tendons
Journal Articles

An Active Foot-Ankle Prosthesis With Biomechanical Energy Regeneration

Joseph K. Hitt, Thomas G. Sugar, Matthew Holgate, Ryan Bellman
Journal: Journal of Medical Devices
Publisher: ASME
Article Type: Research Papers
J. Med. Devices. March 2010, 4(1): 011003.
https://doi.org/10.1115/1.4001139
Published Online: March 26, 2010
View Article titled, An Active Foot-Ankle Prosthesis With Biomechanical Energy Regeneration
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Topics: Engines, Motors, Prostheses, Robotics, Springs, Design, Levers, Screws, Biomechanics
Proceedings Papers

The SPARKy (Spring Ankle With Regenerative Kinetics) Project: Design and Analysis of a Robotic Transtibial Prosthesis With Regenerative Kinetics

Joseph K. Hitt, Ryan Bellman, Matthew Holgate, Thomas G. Sugar, Kevin W. Hollander
Proc. ASME. IDETC-CIE2007, Volume 5: 6th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, Parts A, B, and C, 1587-1596, September 4–7, 2007
Publisher: American Society of Mechanical Engineers
Paper No: DETC2007-34512
https://doi.org/10.1115/DETC2007-34512
View Paper titled, The SPARKy (Spring Ankle With Regenerative Kinetics) Project: Design and Analysis of a Robotic Transtibial Prosthesis With Regenerative Kinetics
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Topics: Design, Prostheses, Robotics, Springs
Proceedings Papers

Rapid Embedded Programming: A Tool for Education

Daniel Burns, Thomas G. Sugar
Proc. ASME. IDETC-CIE2002, Volume 5: 27th Biennial Mechanisms and Robotics Conference, 1267-1273, September 29–October 2, 2002
Publisher: American Society of Mechanical Engineers
Paper No: DETC2002/MECH-34354
https://doi.org/10.1115/DETC2002/MECH-34354
View Paper titled, Rapid Embedded Programming: A Tool for Education
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Topics: Computer programming, Computer software, Control equipment, Design, Education, Embedded systems, Engines, Feedback, Force feedback, Hardware
Proceedings Papers

Design of Lead Screw Actuators for Wearable Robotic Applications

Kevin W. Hollander, Thomas G. Sugar
Proc. ASME. IDETC-CIE2005, Volume 7: 29th Mechanisms and Robotics Conference, Parts A and B, 237-246, September 24–28, 2005
Publisher: American Society of Mechanical Engineers
Paper No: DETC2005-84595
https://doi.org/10.1115/DETC2005-84595
View Paper titled, Design of Lead Screw Actuators for Wearable Robotic Applications
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Topics: Actuators, Design, Robotics, Screws, Weight (Mass), Mechanical efficiency, Engines, Motors, Muscle, Robots